燒傷創面多自由度精密激光切痂系統

王光建; 黃劍; 任品旭; 何亮亮; 唐瑞歡

doi:10.13374/j.issn2095-9389.2019.06.013

燒傷創面多自由度精密激光切痂系統

doi: 10.13374/j.issn2095-9389.2019.06.013

王光建^{1, 2, ,},
黃劍^{1, 2},
任品旭³,
何亮亮^{1, 4},
唐瑞歡⁵

1.
重慶大學機械傳動國家重點實驗室, 重慶 400044
2.
重慶大學汽車工程學院, 重慶 400044
3.
卡內基梅隆大學梅隆科學院, 匹茲堡 15217
4.
重慶大學機械工程學院, 重慶 400044
5.
中國石油川慶鉆探有限公司井下作業公司, 成都 610000

基金項目:

國家自然科學基金資助項目 51275538

詳細信息

通訊作者:
王光建, E-mail: gjwang@cqu.edu.cn

中圖分類號: TH132.4
計量
- 文章訪問數: 844
- HTML全文瀏覽量: 403
- PDF下載量: 9
- 被引次數: 0
出版歷程
- 收稿日期: 2018-04-19
- 刊出日期: 2019-06-01

Precision multi-degree-of-freedom laser therapy system for excision of eschar over burn wound

WANG Guang-jian^{1, 2
, ,},
HUANG Jian^{1, 2},
REN Pin-xu³,
HE Liang-liang^{1, 4},
TANG Rui-huan⁵

1.
State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China
2.
School of Automotive Engineering, Chongqing University, Chongqing 400044, China
3.
Mellon College of Science, Carnegie Mellon University, Pittsburgh 15217, America
4.
College of Mechanical Engineering, Chongqing University, Chongqing 400044, China
5.
Downhole Operation Company, China Petroleum Chuanqing Drilling Co., Ltd., Chengdu 610000, China

More Information

Corresponding author: WANG Guang-jian, E-mail: gjwang@cqu.edu.cn

摘要

摘要: 針對復雜空間創面法向自動聚焦和切痂的關鍵技術問題, 提出了一套由5自由度運動平臺和2自由度激光光路控制機構組成的激光切痂控制系統.對激光切痂并聯機構進行運動學逆解分析, 推導了運動平臺和激光光路控制機構的位置對應關系.結合所推導的位置對應關系和復雜創面輪廓三維掃描結果, 該系統可實現激光軌跡的自動規劃, 從而完成激光自動切痂.基于所提出的激光切痂系統, 進行了激光切痂實驗研究, 實驗測試結果表明: 該激光切痂系統能很好完成人體手部區域的三維輪廓掃描與重建, 并自動規劃激光焦點光斑運動軌跡并切痂.
- 燒傷創面 /
- 激光切痂 /
- 三維掃描 /
- 串并聯機構 /
- 運動學分析
Abstract: Early escharotomy in cases of severely burned patients can reduce infection and shorten the course of treatment. From the treatment effect, the quality of escharotomy operation is critical to the postoperative recovery of burn patients. However, the traditional burn wound escharotomy surgery easily causes bleeding as well as other related complications. Applying high-energy laser cutting can effectively reduce bleeding. Moreover, its treatment cycle is short, and it is highly precise, less prone to related complications, and leads to fast postoperative recovery. Considering that the mechatronics of medical equipment can greatly improve the treatment effect and combining the multi-degree-of-freedom motion platform with laser cutting is more convenient, accurate, and effective, this paper focuses on the key technical issues of normal automatic focusing and cutting in complex space wounds. Considering the advantages of multi-degree-of-freedom motion platform, a set of laser escharotomy control system composed of five-degrees-of-freedom motion platform and two-degrees-of-freedom laser optical path control mechanism was proposed. The degree of freedom of the parallel mechanism was analyzed and coordinate system of the whole mechanism was established. Second, inverse kinematic analysis of the laser eschar cutting parallel mechanism was carried out. Last, the position correspondence between the motion platform and the laser light path control mechanism was derived. The system could realize automatic planning of the laser trajectory and complete the automatic laser cutting by combining the derived corresponding position and the 3D scanning result of the complex wound contour. Based on the proposed laser cutting system, an eschar cutting experiment was carried out, and the experimental test results show that the laser escharotomy system can complete the 3D contour scanning and reconstruction of the human hand region well, and it can also automatically plan the laser focus spot motion track and complete the escharotomy.
- burn wound /
- excision of eschar by laser /
- 3D scanning /
- serial-parallel mechanism /
- kinematics analysis

HTML全文

圖 1 激光切痂系統總體方案設計模型圖

Figure 1. Overall design model of laser escharotomy system

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圖 2 激光治療系統工作原理框圖

Figure 2. Block diagram of laser treatment system working principle

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圖 3 5自由度運動平臺示意圖

Figure 3. Schematic diagram of five-degrees-of-freedom-motion platform

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圖 4 并聯機構坐標系

Figure 4. Coordinate system of parallel mechanism

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圖 5 并聯機構初始狀態圖

Figure 5. Initial state diagram of parallel mechanism

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圖 6 電動缸位移反解關系圖. (a) 電動缸1; (b) 電動缸2; (c) 電動缸3

Figure 6. Inverse solution diagram of electric cylinder displacement: (a) electric cylinder 1; (b) electric cylinder 2; (c) electric cylinder 3

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圖 7 光路控制機構模型圖

Figure 7. Optical path control mechanism model diagram

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圖 8 激光治療儀坐標系

Figure 8. Coordinate system of laser therapeutic instrument

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圖 9 虛擬坐標系與絕對坐標系轉換示意圖

Figure 9. Schematic diagram of virtual coordinate system and absolute coordinate system

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圖 10 三維掃描結果

Figure 10. Three-dimensional scanning results

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圖 11 優化前實驗結果

Figure 11. Experimental results before optimization

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圖 12 優化后實驗結果

Figure 12. Experimental results after optimization

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表 1 5自由度運動平臺設計指標

Table 1. Design indexes of five-degrees-of-freedom-motion platform

參數	指標值
運動平臺承載能力/kg	500
X軸最大位移/mm	± 250
Y軸最大位移/mm	± 250
Z軸最大位移/mm	± 210
最大角度/(°)	俯仰角: ± 30;
最大角度/(°)	側翻角: ± 20
運行線速度/(mm·s^-1)	0.1 ~ 20
最大角加速度/(rad·s^-2)	± π /6
最大線加速度/(mm·s^-2)	± 30

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表 2 三維掃描儀技術參數表

Table 2. Technical parameter table of 3D scanner

項目	參數
掃描尺寸范圍	60 ~ 500 mm
圖像顯示精度	約為物體實際尺寸的0. 05% (高至0. 05 mm)
掃描時長	單幅掃描2 s(或最高到10 s，取決于設置和電腦運行速度)
網格密度	每幅掃描頂點2300000
輸出文檔格式	OBJ，STL，PLY

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